Research

My research focuses on Controls, Robotics, and Safety.

Checkout these blog posts for brief and high-level introductions on some of these topics:

• Control and Dynamical Systems
• More coming soon!

And checkout this list for some of the my favorite papers written by others that have inspired my work:

• Research Library

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Publications

• CDC 2022: End-to-End Imitation Learning with Safety Guarantees using Control Barrier Functions

  Ryan K. Cosner^*, Yisong Yue, Aaron D. Ames. [pdf]

• CDC 2022: Safety of Sampled-Data Systems with Control Barrier Functions via Approximate Discrete Time Models

  Adrew J. Taylor^*, Victor D. Dorobantu^*, Ryan K. Cosner^*, Yisong Yue, Aaron D. Ames. [pdf]

• L4DC 2022: Safety-Aware Preference-Based Learning for Safety-Critical Control

  Ryan K. Cosner^*, Maegan Tucker, Andrew J. Taylor, Kejun (Amy) Li, Tamas G. Molnar, Wyatt Ubellacker, Anil Alan, Gabor Orosz, Yisong Yue, Aaron D. Ames. [pdf]

• ICRA 2022: Self-Supervised Online Learning for Safety-Critical Control using Stereo Vision

  Ryan K. Cosner^*, Ivan D. Jimenez-Rodriguez^*, Tamas G. Molner, Wyatt Ubellacker, Yisong Yu, Aaron D. Ames, Katherine L. Bouman

• LCSS 2022: A Constructive Method for Designing Safe Multirate Controllers for Differentially-Flat Systems

  Devansh R. Agrawal^*, Hardik Parwana, Ryan K. Cosner^*, Ugo Rosolia, Aaron D. Ames, Dmitra Panagou.

• RAL 2022: Model-Free Safety-Critical Control for Robotic Systems

  Tamas G. Molnar, Ryan K. Cosner, Andrew W. Singletary, Wyatt Ubellacker, Aaron D. Ames. [pdf]

• IROS 2021: Measurement-Robust Control Barrier Functions: Certainty in Safety with Uncertainty in State

  Ryan K. Cosner, Andrew W. Singletary, Andrew J Taylor, Tamas G. Molnar, Katherine L. Bouman, Aaron D. Ames. [pdf]

• LCSS 2021: Multi-rate control design under input constraints via fixed-time barrier functions

  Kunal Garg, Ryan K. Cosner, Ugo Rosolia, Aaron D. Ames, Dmitra Panagou. [pdf]

• L4DC 2021: Episodic Learning for Safe Bipedal Locomotion with Control Barrier Functions and Projection-to-State Safety

  Noel Csomay-Shanklin^*, Ryan K. Cosner^*, Min Dai^*, Andrew J. Taylor, Aaron D. Ames. [pdf]

• CoRL 2020: Guaranteeing Safety of Learned Perception Modules via Measurement-Robust Control Barrier Functions

  Sarah Dean, Andrew J. Taylor, Ryan K Cosner, Benjamin Recht, Aaron D. Ames. [pdf]